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This paper shows the capability of our environmental testbed to validate novel cooperative control algorithms that rely on measurements from the environment. Through the design of our mounting plates, the testbed can accommodate multiple environmental sensors as well as different configurations of robot accessories. Also, our environmental sensor suite provides the ability to integrate a variety of...
This paper presents fault detection and isolation (FDI) of dead reckoning and an external sensor (laser range sensor, LRS) on mobile robots in a multi-robot team. Each robot in the team monitors states (fault or fault-free) of the in-vehicle sensors by comparing velocity estimates obtained using its own two velocity providers: dead reckoning and laser-based scan matching. When the robot detects a...
This paper considers a multi-agent system and focuses on the detection of motion misbehavior. Previous work by the authors proposed a solution, where agents act as local monitors of their neighbors and use locally sensed information as well as data received from other monitors. In this work, we consider possible failure of monitors that may send incorrect information to their neighbors due to spontaneous...
Research in mobile robotics, unmanned systems, and autonomous man-portable vehicles has grown rapidly over the last decade. This push has taken the problems of robot cognition and behavioral control out of the lab and into the field. In such situations, completing complex, sophisticated tasks in a dynamic, partially observable and unpredictable environment is necessary. The use of a Hierarchical State...
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